Added a new package that uses a simple graph based approach to find shortest (weighted) paths between "nodes", where nodes are the cells of the costmap grid. There are two nodes. The "graph" is the simplest and the one that works well. The "astar" uses a python library (pip install is not currently in the dockerfile) for pathfinding, but it had some issues that could possibly be fixed later.
Also made small edits to the grid_summation node - mainly the weighting of the different incoming costmaps.
Also removed the radial cost gradient that was added to the route_distance grid.
Added a new package that uses a simple graph based approach to find shortest (weighted) paths between "nodes", where nodes are the cells of the costmap grid. There are two nodes. The "graph" is the simplest and the one that works well. The "astar" uses a python library (pip install is not currently in the dockerfile) for pathfinding, but it had some issues that could possibly be fixed later.
Also made small edits to the grid_summation node - mainly the weighting of the different incoming costmaps.
Also removed the radial cost gradient that was added to the route_distance grid.